Laser Scanner-Based Obstacle Detection System for Autonomous Tractor-Movement and Shape Detection Targeting at agricultural vehicle-

DOI Web Site 1 Citations 14 References
  • KISE Michio
    The Japanese Society of Agricultural Machinery Graduate School of Agriculture, Hokkaido University Present address: Department of Agricultural and Biological Engineering, University of Illinois at Urbana-Champaign
  • NOGUCHI Noboru
    The Japanese Society of Agricultural Machinery Graduate School of Agriculture, Hokkaido University
  • ISHII Kazunobu
    The Japanese Society of Agricultural Machinery Graduate School of Agriculture, Hokkaido University
  • TERAO Hideo
    The Japanese Society of Agricultural Machinery Graduate School of Agriculture, Hokkaido University

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Other Title
  • レーザスキャナを用いたロボットトラクタのための障害物認識システム－トラクタを対象とした移動体の運動・形状認識－
  • レーザスキャナ オ モチイタ ロボットトラクタ ノ タメ ノ ショウガイブツ ニンシキ システム トラクタ オ タイショウ ト シタ イドウタイ ノ ウンドウ ケイジョウ ニンシキ
  • Movement and Shape Detection Targeting at agricultural vehicle
  • トラクタを対象とした移動体の運動・形状認識

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Abstract

Detecting obstacles invading the region in front of a tractor, and creating an obstacle avoidance behavior are needed as a safety device for an autonomous tractor. This paper presents an obstacle detection system based on a laser scanner. The algorithm utilized a template matching for reconstructing a shape of a target obstacle and for detecting its movement. An extended Kalman filter worked for enhancing an obstacle detection accuracy. Field tests were conducted to evaluate the developed system. The results indicated that the system was capable of estimate a position, a speed, and a heading angle of an obstacle with 2.7cm, 0.13m/s, 1.4° error, respectively.

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